Almost certainly this is an HDMI repeater error.
Have you tried a new HDMI cable to the receiver?
Now, we get this all the time. You must understand the difference between an HDMI transmitting device and an end device. The TV is an end device and only required to make one initial HDMI handshake. So you get far fewer problems.
Your receiver on the other hand receives and transmits, HDMI. The receiver is required to make repeated handshakes every few seconds, so called repeater HDMI architecture. This gives much more trouble, like you are finding out.
I have done research and can not find for sure, if Apple TV is HDCP certified, but I suspect it is not.
Your problem is all over the NET.
I see frequent reboots work, but there is no on off switch on the Apple device, so you have to unplug it.
Try starting your receiver and TV, and the power up the Apple TV. This seems to work for some. If not you are likely out of luck.
You should try a known certified device like a BD player or DVD player from a major manufacturer. If that works, then you know the Apple is a rogue non HDCP certified unit. From the problems I see on the Net, I suspect that to be the case. Your receiver and TV are certified.